可变形物体间的精确碰撞检测方法研究.pdfVIP

176 2009 ,45 (1) Computer Engineering and Applicat切TtS 计算机工辑与应用 可变形物体间的精确碰撞检测方法研究 张忠辉，丑武胜 ZHANG Zhong叩hui ， CHOU Wu-sheng 北京航空航天大学机械工程及自动化学院，北京 1 ∞083 School of Mechanical Engineering and Automation ,Beijing University of Aeronautics and Astronautics ,Beijing 100083 ,China E-mail: zhangzhonghui006@163.com ZHANG Zhon嗯咿g段段伊伊-也 ne创er时ing and Appμlica创甜ti协ons.2却009.4咽5(1):17刊6-1口7鸣8. Abstract: This paper presents an algorithm of particle斗ωed precise collision detection for defonnable object. Firstly. LBG vector quantization is applied for partitioning objects sunace into 阳veral ar刷s.Each area is then assigned with a particle.When two objects are approaching each other ,get a pair of the closest particles .ln order to detect precise collision position ,it needs to calculate the minimum distance between the corresponding triangles of the closed particles on neighhoring object.If the minimum distance is shorter than some value ,then collision between objects occurs in the c10sest point on the corresponding triangles.The 叫eriments show that the algorithm is suitable for defonnable objects collision detection in haptic interaction simulation. Key words: defonnable object; collision detection; Iarticle; triangle mesh; minimum distance 摘 堕:针对可变形物体，提出了一种基于粒子的精确碰撞检测算法。首先用 LBG 矢莹莹化技术将物体的表面划分成几个小区 域，然后在每个区域中分别选择一个点作为检测粒子。当一个物体接近另一个物休时，找出两物体上靠得最近的位子对。为了得到 精确的成投位置1:标，进一步计算靠得最近的顶点的相关三角ti7片之间的最短距离。去手此距离小于某个给定的l凋仪，则可认为两 物体在相关二三角面片上的最近点处发生了磁楼。仿真实验验证了该算法能有效处理威拟力交互仿真中的可交形物体的碰撞检测。 关键词:可变形物体;磁撞检测;粒子;三角面片;最短距离 DOI: 1O.3778/j.issn.1oo2-833 1.2009.0 1.054 义常编号:1002-8331(2009)01-0176吨。3 文献际识问:A 中阁分类号:TP39 1.9 仍有待j挂一步研究l坷。当对象较少II均匀分布于空间时，空间分 1 前i1 割方怯效率较高;当对象较多且距离很近时，需进行单元格的 碰撞检测是计算机动丽、计算机仿真、机器人、廉拟现实等 进一步边归分割，并需要大量的单元格相交测拭和存储空间， 多领域的关键问题之一。快速而准确的碰撞检测对提高与人交